The global planning module builds upon the work of Christ et al. [1]}. Their work describes an optimal control problem (OCP) to solve a minimum lap time problem for an autonomous race car, which is transcribed into a nonlinear program (NLP) via direct orthogonal collocation. The OCP is formulated using the CasADi modeling language [2]}, and subsequently solved using the Interior Point OPTimizer (IPOPT) [3]}.
